task_2b_submission.launch

<launch>
  <include file="$(find rotors_gazebo)/launch/swift_with_swift_msg_arena.launch">
  </include>

  <node name="state_info" pkg="topic_tools" type="throttle"
    args="messages /gazebo/model_states 0.1"/>

  <arg name="name" default="whycon"/>
  <arg name="targets" default="1"/>
  <!-- DO NOT CHANGE THE FOLLOWING TWO VALUES  -->
  <arg name="outer_diameter" default=".55"/>
  <arg name="inner_diameter" default=".20"/>
  <arg name="node_start_delay" default="10.0" />  
  <arg name="duration" default="120"/>
  <arg name="rec_name" default="life_form_detector.bag"/>

  <node name="whycon" type="whycon" pkg="whycon" output="screen">
    <param name="targets" value="$(arg targets)"/>
    <param name="name" value="$(arg name)"/>
    <param name="outer_diameter" value="$(arg outer_diameter)"/>
    <param name="inner_diameter" value="$(arg inner_diameter)"/> 
    <remap from="/camera/camera_info" to="/gazebo/overhead_cam/camera_info"/> 
    <remap from="/camera/image_rect_color" to="/gazebo/overhead_cam/image_rect_color"/>
  </node>


  <node ns = "drone_display" name="image_view" type="image_view" pkg="image_view" output="screen">
    <remap from="image" to="/swift/camera_rgb/image_raw"/>
  </node>

  <node name="spawn_organism" type="spawning" pkg="luminosity_drone"/>
  
  <node name="rosbag_record_waypoint_navigation" pkg="rosbag" type="record"
    args="record -O $(find luminosity_drone)/scripts/$(arg rec_name) --duration=$(arg duration) --chunksize=10 /whycon/poses /astrobiolocation /gazebo/model_states_throttle /sub_info" output="screen" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@' "/>
  
  <node pkg="luminosity_drone" type="life_form_detector.py" name="life_form_detection"/>
  <node name="sub_info" type="info" pkg="luminosity_drone"/>

</launch>